Today we will be characterizing the wrist of our intake it has a neo550 at a XX to YY gear ratio, we have a through bore encoder attached to the shaft of the wrist that is attached to the DIO on the Roborio. (that is how use use a REv through bore for absolute right? Dudycycle encoder on dio?)
Trying to figure out what the settings in sysid need to be. I know we need to limit sysid because the wrist will move fast. we were able to see movement at .12% output
I am not sure what the encoder selection should be, I don’t see a place to use the dio. or a place to oput the port number on any of the settings.
Then for units per rotation, in the logger that is the motor or the encoder?
I am trying to figure out the characterization settings for an arm, i decided to use the falcon encoder for the purposes of characterization. I can’t change the 6.2832 on the units per rotation and don’t know where it came from.
Also trying to determine a good setting for dynamic step voltage